Yaskawa MotionSuite Series Machine Controller Programming Manual - Manual (Page 86)

MotionSuite™ Series Machine Controller Programming Manual Chapter 3: Advanced Programming Methods
3-1
3 Advanced Programming
This chapter explains how to program motion control commands including
advanced control commands, and speed/acceleration commands.
3.1 Advanced Control Commands ............................................................................ 3-2
3.1.1 In-Position Check (PFN) Command .......................................................... 3-2
3.1.2 Second In-Position Check (INP) Command .............................................. 3-5
3.1.3 Ignore Single Block (SNG) Command ...................................................... 3-7
3.1.4 User Function Call-out (UFC) Command ................................................. 3-8
3.1.5 I/O Variable Wait (IOW) Command ....................................................... 3-17
3.1.6 Sub-program Call-out (MSEE) Command .............................................. 3-18
3.1.7 Sub-program End (RET) Command ........................................................ 3-19
3.1.8 1-scan Wait (EOX) Command ................................................................. 3-20
3.1.9 Branch (IF ELSE IEND) Command ........................................................ 3-22
3.1.10 Repeat (WHILE WEND) Command ....................................................... 3-24
3.1.11 Parallel Execution (PFORK, JOINTO, PJOINT) Command .................. 3-26
3.1.12 Selective Execution (SFORK, JOINTO, SJOINT) Command ................ 3-31
3.2 Speed/Acceleration Commands ........................................................................ 3-34
3.2.1 Acceleration Time Change (ACC) Command ......................................... 3-34
3.2.2 S-Curve Time Constant Change (SCC) Command ................................. 3-36
3.2.3 Feed Speed Change (VEL) Command ..................................................... 3-38
3.2.4 Interpolation Feed Speed Ratio Setting (IFP) Command ........................ 3-40
3.2.5 Maximum Interpolation Feed Speed Setting (FMX) Command ............. 3-42
3.2.6 Interpolation Acceleration Time Change (IAC) Command .................... 3-44
3.2.7 Interpolation Deceleration Time Change (IDC) Command .................... 3-46